Comparison of model and non-model based friction compensation techniques in the neighbourhood of pre-sliding friction

This paper compares two different friction compensation techniques on a machine tool table: a friction model based feedforward technique and a disturbance observer which does not depend on a friction model. For the first technique, the performance of different friction models proposed in literature is compared. The disturbance observer estimates the friction force using a Kalman filter with a second order random walk model. Both approaches are complementary, yielding that their combination results in accurate tracking performance if the novel generalized Maxwell-slip friction model is used.